Development of autonomous vehicles for urban driving

This paper describes an Autonomous vehicle that can move urban environment. The UGV technology grows rapidly. Generally UGV is developed for military purpose. Now a days, many university and research institute research new UGV technology for commercial use such as transportation service. This vehicle can drive on the urban environment. The UGV system consists of four parts such as vehicle control system, navigation system, obstacle detecting system and arbitration system. In this research, we used minivan for developing unmanned ground vehicle. And we explain each system configuration and event driving that based on extended RDDF. Through real driving test on the fixed environment, we want to verify unmanned ground vehicle system.